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Identification of inertial parameters of a manipulator with closed kinematic chains

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3 Author(s)
A. A. Goldenberg ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; X. He ; S. P. Ananthanarayanan

An identification method for determining the inertial parameters of robot manipulators with closed kinematic chains is presented. The main issues are the mathematical model describing the robot system, the derivation of a dynamic model using linear combinations of the inertial parameters, and the proposed identification algorithm. An illustrating example, using the proposed method for a closed-chain direct drive arm, is included

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:22 ,  Issue: 4 )